Line two baking sheets with parchment paper.
In a medium saucepan over medium heat, combine sugar, milk, butter, and cocoa.
Bring the mixture to a rolling boil, then let it boil for 1 minute without stirring.
Remove from heat and quickly stir in the peanut butter, vanilla, salt, and oats.
Working fast, drop spoonfuls of the mixture onto the prepared sheets.
Let cool and set for about 20–30 minutes, or until firm to the touch.